A high-precision laser iris puncher for laser iris punch surgery

Abstract

The present application relates to a kind of high-precision laser iris puncher for laser iris punch operation, belong to medical instrument technical field, including six degrees of freedom mechanical arm, its end is equipped with flexible eye fixation clamp, optical sighting system, laser energy adjusting mechanism and laser emission head, bottom side is equipped with control machine case.Six degrees of freedom mechanical arm each joint is driven by DC brushless servo motor, is accurately controlled by planetary gear reducer.Utilize microsuction disc to stabilize eyeball by flexible eye fixation clamp, and optical sighting system can accurately identify iris feature.Laser energy adjusting mechanism includes multilayer composite liquid crystal adjusting unit etc., and can accurately adjust laser energy and pulse.Control machine case is according to each component feedback data, and intelligently controls operation process.The puncher can accurately position, accurately control laser energy, guarantee beam quality and system stability, can realize individualized operation scheme, effectively improve operation success rate and safety.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a high-precision laser iris punch for laser iris punching surgery. Background Technology

[0002] In the field of ophthalmology, laser iridotomy is a key procedure for treating conditions such as angle-closure glaucoma and iris bulging. This surgery creates micropores in the iris to reconstruct the aqueous humor drainage pathway, thereby lowering intraocular pressure and protecting the optic nerve. However, current technology has significant limitations in achieving this goal; the surgical outcome is highly dependent on the surgeon's experience and it is difficult to overcome physiological interference from the patient.

[0003] Currently, widely used laser iris punching devices in clinical practice typically rely on a negative pressure suction ring to physically flatten and fix the eyeball in a specific position through suction, followed by laser irradiation within the fixed area. While this method provides some stability, it essentially forcibly suppresses the physiological movements of the eyeball, potentially causing discomfort to the patient. More importantly, it completely lacks the ability to track and compensate for micro-tremors of the eyeball (typically with amplitudes of 50-200 micrometers) in real time during the procedure. On the other hand, general-purpose laser processing systems used in industrial fields, although employing robotic arms to increase the degree of freedom of movement, are designed for rigid, static industrial workpieces. Their precision, drive methods, and end effector structures are completely incompatible with the delicate, flexible, and dynamic characteristics of the living eyeball, making them unsuitable for direct application in ophthalmic surgery.

[0004] Therefore, existing technologies face two core bottlenecks: First, in terms of positioning, there is a lack of a coordinated mechanical structure that allows for physiological eye movements and can actively and dynamically track these movements to maintain the accuracy of the perforation position. Second, in terms of energy control, existing devices mostly use simple preset energy levels for adjustment, failing to provide continuous and precise personalized energy output based on the real-time identification of different patients' iris tissue characteristics (such as thickness and pigment density). This often leads to laser accidental injury due to minor displacement during surgery, or incomplete perforation or excessive tissue damage due to unsuitable energy, severely restricting the safety and success rate of the surgery. Therefore, there is an urgent need for a new type of device to solve the problems of positioning and laser energy control in existing laser iris perforation equipment, improve the accuracy, safety, and success rate of the surgery, and meet clinical surgical needs. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a high-precision laser iris punch for laser iris punching surgery, to solve the problems of inaccurate positioning and imprecise laser energy control caused by micro-movements of the eyeball during surgery in existing equipment. The system uses a six-degree-of-freedom robotic arm to drive an integrated platform at the end effector. A flexible clamp on the platform can gently adhere to the area around the eye. An optical aiming system tracks the iris position in real time, and the laser emission system automatically adjusts the energy according to the characteristics of the iris. All components work collaboratively through a central processor to dynamically track eyeball movements and perform precise punching, significantly improving the safety and success rate of the surgery.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A high-precision laser iris punch for laser iris punching surgery includes a six-degree-of-freedom robotic arm. An end effector integrated platform is fixedly mounted at the end of the six-degree-of-freedom robotic arm. A flexible eye fixation clamp is hinged to the front end of the end effector integrated platform. An optical aiming system is mounted on one side of the end effector integrated platform. A laser energy adjustment mechanism is fixedly mounted at the geometric center of the end effector integrated platform, and a laser emitter is fixedly mounted on the top of the laser energy adjustment mechanism. A control chassis is fixedly mounted on the side of the base of the six-degree-of-freedom robotic arm. The control chassis is electrically connected to the six-degree-of-freedom robotic arm, the flexible eye fixation clamp, the optical aiming system, the laser energy adjustment mechanism, and the laser emitter via wiring. The flexible eye fixation clamp, the optical aiming system, and the laser emitter form a fixed spatial geometric relationship with the end effector integrated platform as a reference.

[0008] Furthermore, the six-degree-of-freedom robotic arm includes a fixed bracket, which is fastened with bolts; each joint of the six-degree-of-freedom robotic arm is fixedly equipped with a DC brushless servo motor, and the output shaft of the DC brushless servo motor is connected to the joint through a planetary gear reducer.

[0009] Furthermore, the flexible eye fixation clip includes a rotating fixing rod, an arc-shaped fixing plate is fixedly installed on the top of the rotating fixing rod, micro suction cups are evenly distributed on the inner side of the arc-shaped fixing plate, and a micro electromagnetic valve is provided between the micro suction cups and the arc-shaped fixing plate.

[0010] Furthermore, the outer surfaces of both the arc-shaped fixing clamp and the miniature electromagnetic valve are covered with a flexible protective layer.

[0011] Furthermore, the optical aiming system includes a high-resolution miniature CMOS camera, which is fixedly mounted on one side of the end effector integration platform via an electric rotating rod; an aspherical optical lens group is fixedly connected to the top of the high-resolution miniature CMOS camera via a lens mount and a pressure ring, and a high-performance image processor is fixedly mounted on the side of the high-resolution miniature CMOS camera.

[0012] Furthermore, the laser energy adjustment mechanism includes a multilayer composite liquid crystal adjustment unit, a dual-axis rotating polarizer group, a drive and control module, optical compensation and calibration components, a heat dissipation and protection structure, and a pulse control mechanism;

[0013] The multilayer composite liquid crystal adjustment unit is composed of a high-transmittance borosilicate glass substrate, a liquid crystal functional layer, and a conductive electrode layer. The glass substrate is tightly bonded to the liquid crystal functional layer and the conductive electrode layer by optical adhesive.

[0014] The dual-axis rotary polarizer assembly consists of polarizers, miniature ceramic bearings, mounting bases, protective housings, stepper motors, transmission belts, and a rotating shaft. The polarizers are composed of two high-performance polyimide-based polarizers connected by the miniature ceramic bearings. The polarizers are mounted on the mounting bases, which are fixed inside the protective housings. The stepper motor is connected to the rotating shaft of the polarizers via the transmission belt.

[0015] The drive and control module consists of a high-precision micro-voltage drive power supply, a motor drive and feedback system, a stepper motor drive chip, and a motor encoder.

[0016] The optical compensation and calibration component consists of an adaptive optics phase compensator, a wavefront sensor, and a laser energy calibration sensor.

[0017] The heat dissipation and protection structure consists of a copper heat sink with high thermal conductivity, a miniature axial fan, and a copper shielding layer.

[0018] The pulse control mechanism consists of a high-speed electro-optic modulator connected to the laser optical path via an optical collimator.

[0019] Furthermore, the control chassis consists of a housing, a central processing unit, a memory, and input / output interfaces; a control display panel is provided on the outside of the housing.

[0020] Furthermore, the multilayer composite liquid crystal adjustment unit includes at least three stacked liquid crystal modules; the relative rotation angle of the two polarizers in the dual-axis rotating polarizer group is precisely controlled by the stepper motor.

[0021] Furthermore, the contour of the arc-shaped fixing clamp is adapted to the contour of the human eye socket bone; the micro suction cup is connected to the micro electromagnetic valve through a built-in micro tube.

[0022] Furthermore, the aspherical optical lens group consists of at least three aspherical lenses with different curvatures; the optical axis of the optical aiming system is parallel to the emission optical path of the laser emitter and the spacing between them is fixed, forming a paraxial parallel optical layout.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention utilizes a laser iris perforation system that integrates a high-precision positioning robotic arm, a flexible and stable eye fixation structure, a real-time tracking optical aiming system, and a precisely controlled laser energy adjustment mechanism. Through the precise positioning of the robotic arm and the stable constraint of the eye fixation structure, it eliminates the reliance on surgeon experience in traditional surgery, reducing the impact of hand tremors and eye movements. The real-time dynamic tracking of the optical aiming system ensures the laser is always aligned with the target area. Personalized adjustment of the laser energy mechanism adapts to the iris characteristics of different patients, avoiding tissue damage or incomplete perforation caused by improper energy. Overall, it improves surgical precision and safety, reduces the risk of complications, increases the success rate, and meets the needs of precise clinical treatment. Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0026] Figure 1 For the overall assembly structure drawing;

[0027] Figure 2 This is a front view of the overall structure without the control cabinet.

[0028] Figure 3 This is a side view of the overall structure without the control cabinet.

[0029] Figure 4 Diagram of a flexible eye fixation clip;

[0030] Figure 5 This is a structural diagram of an optical aiming system;

[0031] Figure 6 This is a diagram of the internal structure of the control chassis.

[0032] Figure label:

[0033] 1. Six-DOF robotic arm; 101. Fixed bracket; 102. DC brushless servo motor; 103. Planetary gear reducer; 2. Flexible eye clamp; 201. Rotating fixing rod; 202. Arc-shaped fixing plate; 203. Micro suction cup; 204. Miniature electromagnetic valve; 3. Optical aiming system; 301. High-resolution miniature CMOS camera; 302. Electric rotating rod; 303. Lens mount; 304. Pressure ring; 305. Aspherical optical lens group; 306. High-performance image processor; 4. Laser energy adjustment mechanism; 5. Laser emitter head; 6. Control chassis; 601. Central processing unit; 602. Memory; 603. Input / output interface; 605. Control display panel; 7. End effector integrated platform. Detailed Implementation

[0034] like Figure 1-6 As shown, one embodiment of the present invention provides a high-precision laser iris punch for laser iris punching surgery, comprising a six-degree-of-freedom robotic arm 1. The six-degree-of-freedom robotic arm 1 is fastened to the edge of the operating table by M10 stainless steel bolts via a fixed bracket 101 to ensure overall structural stability. Each joint of the six-degree-of-freedom robotic arm 1 is fixedly mounted with a DC brushless servo motor 102. The output shaft of the DC brushless servo motor 102 is connected to the input shaft of a planetary gear reducer 103 via a flat key. The output end of the planetary gear reducer 103 is rigidly connected to the rotation shaft of the joint via a flange. Through the drive of the DC brushless servo motor 102 and the reduction and torque amplification effect of the planetary gear reducer 103, each joint can achieve precise rotation within the range of 0-360°, with a rotation accuracy of ±0.01°, meeting the positioning requirements during surgery.

[0035] An end effector integrated platform 7 is fixedly mounted on the end of a six-degree-of-freedom robotic arm 1. The rotating fixing rod 201 of the flexible eye fixation clamp 2 is hinged to the front edge of the end effector integrated platform 7 via a bearing seat. The base of the electric rotating rod 302 of the optical aiming system 3 is fixedly mounted to one side of the end effector integrated platform 7 by bolts. The base of the laser energy adjustment mechanism 4 is fixedly mounted to the geometric center of the end effector integrated platform 7 by bolts. An arc-shaped fixing clamp 202 is welded to the top of the rotating fixing rod 201. The arc-shaped fixing clamp 202 is made of skin-friendly medical silicone material, and six micro suction cups 203 with a diameter of 5mm are evenly distributed on its inner surface. The openings of the micro suction cups 203 face the patient's eyes. The micro suction cups 203 are connected to the miniature electromagnetic valve 204 inside the arc-shaped fixing clamp 202 through a silicone tube with a diameter of 2mm. The miniature electromagnetic valve 204 is connected to the control box 6 through a circuit, which can control the suction and release of the micro suction cups 203. The outer surfaces of the arc-shaped fixing clamp 202 and the miniature electromagnetic valve 204 are both covered with a 1mm thick flexible protective layer. The flexible protective layer is made of medical-grade silicone to avoid scratches when in contact with the patient's skin.

[0036] A high-resolution miniature CMOS camera 301 is fixed to the top of the electric rotating rod 302 via a threaded connection. The high-resolution miniature CMOS camera 301 has 12 megapixels and a frame rate of 60fps. An aspherical optical lens group 305 is fixedly mounted on the lens end of the high-resolution miniature CMOS camera 301 via a lens mount 303 and a metal retaining ring 304. The aspherical optical lens group 305 consists of three aspherical lenses with different curvatures, which are sequentially bonded together with optical adhesive, so that the image of the iris area can be clearly projected onto the photosensitive chip of the high-resolution miniature CMOS camera 301. A high-performance image processor 306 is fixed to the side of the high-resolution miniature CMOS camera 301 via a clip. The high-performance image processor 306 has a processing speed of 2GHz and incorporates an iris feature extraction algorithm. The specific steps are as follows: ① Image preprocessing: The image transmitted by the high-resolution miniature CMOS camera 301 is converted to grayscale (the RGB image is converted to an 8-bit grayscale image with a grayscale value range of 0-255), and then noise is removed by Gaussian filtering (filter kernel size 5×5, standard deviation 1.0); ② Edge detection: The Canny operator (lower threshold 30, upper threshold 80) is used to identify the boundary between the iris and sclera (abrupt change in grayscale gradient). ① The inner and outer edges of the iris are obtained by extracting the inner and outer edge contours of the iris and the boundary line between the iris and the pupil; ② Feature point extraction: The texture nodes (points with a gray value change rate > 50%), pigment block centers (centers of connected regions with a gray value < 50%), and blood vessel intersections (intersections of linear structures with a gray value > 200) on the iris surface are extracted using the SIFT algorithm, resulting in a total of 20-30 stable feature points; ③ Positioning calculation: Using the line connecting the centers of the inner and outer edges of the iris as the reference axis, the spatial posture of the iris is fitted by the coordinate distribution of the feature points to achieve a positioning accuracy of ±5μm. The iris feature extraction and positioning can be performed in real time on images transmitted by the high-resolution miniature CMOS camera 301, and the feature recognition accuracy can reach ±5μm.

[0037] The top of the laser energy adjustment mechanism 4 is connected to the bottom of the laser emitter head 5 via a flange. The laser output end of the laser emitter head 5 is coaxial with the optical path of the optical aiming system 3, with a coaxiality error ≤0.05mm. The laser energy adjustment mechanism 4 includes a multilayer composite liquid crystal adjustment unit, a dual-axis rotating polarizer group, a drive and control module, optical compensation and calibration components, a heat dissipation and protection structure, and a pulse control mechanism.

[0038] The multilayer composite liquid crystal regulating unit consists of three layers of high-transmittance borosilicate glass substrates. Each glass substrate has a liquid crystal functional layer and a conductive electrode layer coated on its inner side. The conductive electrode layer uses an ITO (indium tin oxide) transparent conductive film, with each layer being 50 nm thick. A ring electrode (10 mm in diameter) is fabricated using photolithography. The liquid crystal functional layer is a nematic liquid crystal (such as E7 type). Initially, the long axes of the molecules are randomly arranged (at 0 V), resulting in strong scattering of laser light (wavelength 532 nm) and a transmittance of only 10%. When a voltage is applied to the conductive electrode layer, the liquid crystal molecules align in an ordered manner along the electric field direction (perpendicular to the glass substrate) under the influence of the electric field, reducing scattering and increasing transmittance with increasing voltage. Specifically, the transmittance is 25% at 1 V, 45% at 2 V, 65% at 3 V, 80% at 4 V, and 90% at 5 V. The glass substrate is tightly bonded to the liquid crystal functional layer and the conductive electrode layer with optical adhesive, and the bonding gap is ≤0.005mm. By changing the voltage (0-5V) of the conductive electrode layer, the arrangement state of the liquid crystal molecules is adjusted, thereby changing the transmittance of the laser.

[0039] The dual-axis rotary polarizer assembly consists of two high-performance polyimide-based polarizers. The edges of the two polarizers are connected by a miniature ceramic bearing. The inner ring of the bearing is interference-fitted with the mounting shaft of the polarizer, while the outer ring is fixed to the mounting base. The mounting base is bolted to the inside of a protective housing made of aluminum alloy with an anodized surface. A stepper motor is connected to the rotation shaft of the polarizer via a drive belt. The tension of the drive belt is controlled by an adjusting bolt. Each step of the stepper motor rotates the polarizer by 0.02°, achieving precise adjustment of the polarization direction.

[0040] The high-precision micro-voltage drive power supply in the drive and control module has an output voltage range of 0-10V and an accuracy of ±0.01V. It is connected to the conductive electrode layer of the multilayer composite liquid crystal adjustment unit via a circuit. The motor drive and feedback system consists of a stepper motor drive chip and a motor encoder. The motor encoder is an incremental photoelectric encoder (model such as E6B2-CWZ6C), which internally contains a grating disk (engraved with 1000 evenly distributed light-transmitting slits) that rotates synchronously with the motor shaft, and infrared LEDs and photodiodes on both sides. When the stepper motor rotates, the grating disk blocks / transmits infrared light, and the photodiodes output pulse signals (generating 4000 pulses per revolution, including fourfold frequency multiplication). The angle calculation method is as follows: Assuming the encoder output pulse count is N, the stepper motor rotation angle = (N ÷ 4000) × 360°, and the resolution is 360° ÷ 4000 = 0.09°. The pulse count is collected in real time by the counter built into the motor driver chip (such as DRV8825), and then transmitted to the central processing unit 601 to be converted into an angle, achieving a detection accuracy of ±0.005°. The motor encoder can detect the rotation angle of the stepper motor in real time, with a feedback accuracy of 0.005°, ensuring the accuracy of the polarizer rotation angle.

[0041] The optical compensation and calibration components include an adaptive optics phase compensator, a wavefront sensor, and a laser energy calibration sensor. The adaptive optics phase compensator uses a 19-element deformable mirror (15 mm in diameter), with the mirror surface controlled by piezoelectric ceramic actuators (each actuator has a stroke of 5 μm). The wavefront sensor (Shack-Hartmann type, 10×10 lens array, each sub-lens with a diameter of 1 mm) detects the laser wavefront error and outputs a wavefront slope matrix (in μrad). The central processing unit 601 fits the error using Zernike polynomials and then controls the corresponding element of the deformable mirror to produce the opposite deformation (e.g., if a wavefront tilt of +2 μrad is detected, the corresponding element shrinks by 1 μm) to compensate for phase distortion, ensuring that the wavefront error is ≤0.05λ. The adaptive optics phase compensator is fixed in the laser optical path by a bracket and can compensate for phase distortion in the optical path in real time. The detection end of the wavefront sensor is aligned with the laser optical path. The detection principle of the wavefront sensor is as follows: the laser is split into 100 sub-beams by a lens array, and each sub-beam is focused on a CCD detector (128×128 pixels). The wavefront slope is calculated by measuring the focal offset (Δx, Δy): slope = Δx / f (f is the focal length of the sub-lens, 10mm). The wavefront error distribution is then obtained by integration, which can detect the laser wavefront error with a detection accuracy ≤0.05λ (λ is the laser wavelength). The laser energy calibration sensor is installed at the paraxial position of the laser output end. Laser energy calibration: The beam splitter is a 50:50 broadband beam splitter (wavelength 400-700nm), placed at a 45° angle in the laser optical path. 1% of the reflected light (attenuated by 100 times by a neutral density filter) is incident on the laser energy calibration sensor (thermop detector, model THZ-10). The sensor outputs a voltage signal (range 0-10V). The energy calculation formula is: laser energy (mJ) = sensor output voltage (V) × 10 (calibration coefficient, calibrated by a 10mJ standard laser). 1% of the laser energy is obtained through the beam splitter for detection. The detection range is 1-100mJ, with an accuracy of ±0.1mJ.

[0042] In the heat dissipation and protection structure, a high thermal conductivity copper heat sink is attached to the outside of the multilayer composite liquid crystal adjustment unit and the dual-axis rotating polarizer assembly using thermally conductive silicone grease. A miniature axial fan is fixedly mounted on the heat sink, with a rotation speed of 3000 r / min, dissipating heat into the air through convection heat transfer. A copper shielding layer, 0.5 mm thick, wraps around the entire laser energy adjustment mechanism 4, effectively blocking electromagnetic interference.

[0043] The high-speed electro-optic modulator (model such as LN-MOD-532) in the pulse control mechanism is aligned with the laser path via an optical collimator. The collimation accuracy of the optical collimator is ≤0.1mrad. The high-speed electro-optic modulator uses a lithium niobate (LiNbO3) crystal and controls the laser on / off state through the Pockels effect. The specific operating steps are as follows: ① The central processing unit 601 outputs a timing control signal (such as a 50ns wide, 5Hz TTL pulse, high level 3.3V, low level 0V) according to the surgical requirements; ② The signal is converted into a high-voltage pulse (high level 300V) by the modulator drive circuit (100x gain). The high-speed electro-optic modulator can adjust the laser pulse width (e.g., 0V) to the electrodes of a lithium niobate crystal (0.5mm spacing); ③ When 0V is applied, the crystal refractive index remains unchanged, and the laser (linearly polarized light) passes through the polarizer (the transmission direction is consistent with the laser polarization direction), outputting laser light; ④ When 300V (half-wave voltage) is applied, the change in the crystal refractive index causes the laser polarization direction to rotate 90°, which is blocked by the polarizer, resulting in no laser output; ⑤ By controlling the width (e.g., 50ns) and interval (e.g., 200ms corresponding to 5Hz) of the high-voltage pulse, precise control of the laser pulse width and frequency can be achieved, and the output timing is completely synchronized with the control signal (delay <10ns). The high-speed electro-optic modulator can adjust the laser pulse width within the range of 10-100ns and the pulse frequency within the range of 1-10Hz to meet different surgical needs. The parameters for different surgical needs are set as follows: For thick irises (thickness 0.6-0.8mm, high pigment content: area with gray value <30 >40%), a pulse width of 80-100ns and a pulse frequency of 1-2Hz are required; for thin irises (thickness 0.2-0.4mm, low pigment content: area with gray value <30 <20%), a pulse width of 10-30ns and a pulse frequency of 8-10Hz are required; for medium-thickness irises (0.4-0.6mm, medium pigment content), a pulse width of 50ns and a pulse frequency of 5Hz are required.

[0044] A control housing 6 is bolted to the side of the base of the six-degree-of-freedom robotic arm 1. The housing is made of cold-rolled steel plate and coated with anti-static paint. Inside the housing are a central processing unit 601, a memory 602, and input / output interfaces 603. The central processing unit 601 has a clock speed of 3.5 GHz, and the memory 602 has a storage capacity of 1 TB, capable of storing patient iris image data and surgical parameters. The input / output interfaces 603 include a USB 3.0 interface, an Ethernet interface, and an RS485 interface, which are connected via shielded cables to the six-degree-of-freedom robotic arm 1's DC brushless servo motor 102, the flexible eye fixation clamp 2's miniature electromagnetic valve 204, the optical aiming system 3's high-resolution miniature CMOS camera 301 and high-performance image processor 306, the laser energy adjustment mechanism 4's drive and control module and pulse control mechanism, and the laser emitter head 5's laser drive module, enabling real-time data transmission and control command issuance. The control housing 6 has a control display panel 605 embedded on its exterior. The control display panel 605 is a 10.1-inch touchscreen that can display surgical parameters, iris images, and equipment status, while also supporting manual input of control commands. In addition to displaying real-time data, the control display panel 605 allows manual modification of laser energy, pulse parameters, etc. When manually modified, the system automatically verifies the parameters' rationality. The specific steps for the system to automatically verify the rationality of parameters are as follows: ① The memory 602 of the control housing 6 pre-stores a safe parameter range: laser energy 1-100mJ, pulse width 10-100ns, pulse frequency 1-10Hz, and the movement speed of the six-degree-of-freedom robotic arm 1 ≤5mm / s; ② When medical personnel input parameters (such as laser energy 110mJ) through the control display panel 605, the central processing unit 601 compares the input value with the pre-stored range; ③ If the input value exceeds the range (e.g., energy > 1), the system automatically verifies the parameters. 00mJ), the central processing unit 601 outputs a high-level signal to the alarm circuit: the buzzer (operating voltage 5V, frequency 2kHz) sounds, and the red LED (current 20mA) on the control display panel 605 flashes; ④ At the same time, the central processing unit 601 cuts off the enable signal of the laser emitter 5 (by disconnecting the laser drive power supply through the transistor switching circuit), and displays "Parameter exceeds limit: Energy must be ≤100mJ" on the control display panel 605; ⑤ Only when the input parameters are within the safe range will the central processing unit 601 output an enable signal, allowing laser emission and robotic arm movement. If the verification response time is <100ms, an audible and visual alarm will be issued and execution will be refused.

[0045] In this embodiment,

[0046] First, the patient is placed on the operating table. Medical staff start the equipment through the control display panel 605. The six-degree-of-freedom robotic arm 1 is reset to the initial position under the control of the central processing unit 601. At the initial position, the end of the six-degree-of-freedom robotic arm 1 is 50cm away from the patient's eye.

[0047] Next, the flexible eye fixation clip 2 is controlled to rotate. The central processing unit 601 sends a command to control the rotating fixation rod 201 to rotate, so that the arc-shaped fixation clip 202 slowly approaches the patient's eye. When the arc-shaped fixation clip 202 is 1 cm away from the eye, the rotation stops. Then, the micro electromagnetic valve 204 is activated, and a negative pressure is formed inside the micro suction cup 203 by suction. When the negative pressure reaches -5 kPa, the micro suction cup 203 adheres to the skin around the patient's eye socket, achieving flexible fixation of the eye. At the same time, the flexible protective layer on the outside of the arc-shaped fixation clip 202 prevents pressure damage to the skin.

[0048] Then, the optical aiming system 3 begins operation. The high-resolution miniature CMOS camera 301 images the patient's iris through the aspherical optical lens group 305, and the imaging data is transmitted to the high-performance image processor 306 in real time. The high-performance image processor 306 extracts features from the iris image, identifying feature points such as iris texture and pigment distribution. The specific features and calculation methods are as follows: ① Identification features: iris edge (the junction of the iris and sclera, obtained through edge detection), calculate the iris outer diameter R (usually 11-13mm); pupil edge (the junction of the iris and pupil), calculate the pupil diameter r (usually 3-6mm); blood vessel distribution (identify blood vessels through threshold segmentation (grayscale value > 200), mark the location of blood vessels with a diameter > 0.1mm); pigment patches (mark dark areas with an area > 0.01mm² (grayscale value < 50)); ② Calculation of the optimal punching position: establish a right angle with the pupil center as the origin. The coordinate system (x-axis horizontal to the right, y-axis vertical upward) requires the following conditions for optimal punching position: distance from the pupil edge = (Rr) × 0.3 (approximately 2-3 mm); distance from the iris edge = (Rr) × 0.7 (approximately 5-7 mm); avoid blood vessels and pigment patches (distance from blood vessels > 0.2 mm, distance from pigment patches > 0.1 mm); coordinate calculation formula: x = (r + (Rr) × 0.3) × cosθ, y = (r + (Rr) × 0.3) × sinθ, where θ is the angle to avoid blood vessels and pigment patches (finding the angle that meets the conditions by traversing 0-360°). The coordinates of the optimal punching position are calculated and the coordinate data is transmitted to the central processing unit 601. Based on the coordinate data, the central processing unit 601 calculates the angles that each joint of the six-degree-of-freedom robotic arm 1 needs to rotate, and then sends a drive command to the brushless DC servo motor 102. The brushless DC servo motor 102 drives the planetary gear reducer 103 to rotate, so that the laser emitter 5 at the end of the six-degree-of-freedom robotic arm 1 is aligned with the optimal drilling position. After positioning is completed, the deviation between the center of the laser emitter 5 and the optimal drilling position is ≤50μm.

[0049] During the laser energy adjustment stage, the central processing unit 601 automatically selects the laser energy parameters based on the iris thickness (calculated by image grayscale values, formula: iris thickness = 500 × (average grayscale value of iris region / 255), unit μm, where 500 is the maximum thickness reference value) and pigment content (calculated by pigment region proportion, pigment content = (number of pixels in pigment region / total number of pixels in iris region) × 100%) analyzed by the high-performance image processor 306. When the iris thickness is greater than 400 μm and the pigment content is greater than 60%, the central processing unit 601 controls the voltage of the multilayer composite liquid crystal adjustment unit to be adjusted to 2V, and the polarizer angle of the dual-axis rotating polarizer group to be adjusted to 30°, so that the laser energy is 10-30 mJ; when the iris thickness is 200-400 μm and the pigment content is 30-60%, the voltage is adjusted to 3V, the polarizer angle is adjusted to 45°, and the energy is 30-60 mJ; when the iris thickness is less than 200 μm and the pigment content is less than 30%, the voltage is adjusted to 4V, the polarizer angle is adjusted to 60°, and the energy is 60-100 mJ. Simultaneously, the laser energy calibration sensor detects the laser energy in real time. If the detected value deviates from the target value by more than ±0.5 mJ, the drive and control module automatically adjusts the voltage of the multilayer composite liquid crystal adjustment unit and the polarizer angle until the energy reaches the target.

[0050] According to surgical requirements, the pulse control mechanism uses a high-speed electro-optic modulator connected to the laser path via an optical collimator with a collimation accuracy ≤0.1mrad. The laser pulse width is set to 50ns, and the pulse frequency to 5Hz. The high-speed electro-optic modulator controls the laser output timing. The specific steps for controlling the laser output timing are as follows: ① The central processing unit 601 outputs a timing control signal (a 50ns wide, 5Hz frequency TTL pulse, high level 3.3V, low level 0V) according to surgical requirements; ② The signal is converted by the modulator drive circuit (100x gain) into... A high-voltage pulse (300V high level, 0V low level) is applied to the electrodes of the lithium niobate crystal (0.5mm spacing); ③ When 0V is applied, the refractive index of the crystal remains unchanged, and the laser (linearly polarized light) passes through the polarizer (the transmission direction is consistent with the laser polarization direction), outputting laser light; ④ When 300V (half-wave voltage) is applied, the change in the refractive index of the crystal causes the laser polarization direction to rotate 90°, which is blocked by the polarizer, and no laser light is output; ⑤ By controlling the width (50ns) and interval (200ms corresponds to 5Hz) of the high-voltage pulse, the laser pulse width and frequency can be precisely controlled, and the output timing is completely synchronized with the control signal (delay <10ns).

[0051] During the surgery, the optical aiming system 3 continuously images the iris, and the high-performance image processor 306 updates the iris position information every 10ms. If eye movement causes a perforation position deviation exceeding 30μm, the eye movement deviation is detected through the following steps: ① Before the surgery, the high-performance image processor 306 marks three reference feature points (such as texture nodes A, B, and C) in the initial iris image and records their coordinates (x1, y1), (x2, y2), and (x3, y3); ② During the surgery, the high-resolution miniature CMOS camera 301 acquires one frame of image every 10ms, and the high-performance image processor 306 identifies the new coordinates (x1', y1'), (x2', y2'), and (x3', y3') of the same reference feature point in real time; ③ Calculate the displacement deviation of each feature point: Δxᵢ=xᵢ'-xᵢ, Δyᵢ=yᵢ'-yᵢ (i=1,2,3); ④ Take the average of the three deviations as the final deviation. ⑤ When Δ>30μm, it is determined that the deviation exceeds the limit. The central processing unit 601 immediately sends an adjustment command to the six-degree-of-freedom robotic arm 1. The DC brushless servo motor 102 completes the position correction within 0.1s to ensure that the laser is always aligned with the target position.

[0052] After the surgery is completed, the central processing unit 601 controls the laser emitter 5 to stop emitting laser, the micro electromagnetic valve 204 is inflated in reverse, the negative pressure of the micro suction cup 203 is released, the rotating fixing rod 201 moves the arc-shaped fixing clamp 202 away from the patient's eye, the six-degree-of-freedom robotic arm 1 returns to the initial position, and the entire surgical process is completed.

[0053] In this embodiment, the central processing unit 601 of the control chassis 6 can store data such as iris images, laser energy parameters, and positioning deviations during the operation in the memory 602, and can export the data to the hospital information system through the input / output interface 603 for easy postoperative traceability.

[0054] This embodiment effectively solves the problems of traditional equipment relying on doctors' experience for positioning and having rough energy control by using a six-degree-of-freedom robotic arm 1 for high-precision positioning, a flexible eye fixation clip 2 for stable fixation, an optical aiming system 3 for real-time tracking, and a laser energy adjustment mechanism 4 for precise energy control. This improves the accuracy and safety of laser iris punching surgery.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A high-precision laser iris punch for laser iris punching surgery, characterized in that: It includes a six-degree-of-freedom robotic arm, the end of which is fixedly equipped with an end effector integrated platform; The end effector integrated platform is hinged to a flexible eye clamp at its front end, and an optical aiming system is provided on one side of the end effector integrated platform. A laser energy adjustment mechanism is fixedly provided at the geometric center of the end effector integrated platform, and a laser emitting head is fixedly provided on the top of the laser energy adjustment mechanism. A control box is fixedly installed on the side of the base of the six-degree-of-freedom robotic arm. The control box is electrically connected to the six-degree-of-freedom robotic arm, the flexible eye clamp, the optical aiming system, the laser energy adjustment mechanism and the laser emitter via wiring. The flexible eye clamp, optical aiming system, and laser emitter form a fixed spatial geometric relationship based on the end effector integrated platform; The laser energy adjustment mechanism includes a multilayer composite liquid crystal adjustment unit, a dual-axis rotating polarizer group, a drive and control module, optical compensation and calibration components, a heat dissipation and protection structure, and a pulse control mechanism. The multilayer composite liquid crystal adjustment unit is composed of a high-transmittance borosilicate glass substrate, a liquid crystal functional layer, and a conductive electrode layer. The glass substrate is tightly bonded to the liquid crystal functional layer and the conductive electrode layer by optical adhesive. The dual-axis rotary polarizer assembly consists of polarizers, miniature ceramic bearings, a mounting base, a protective housing, a stepper motor, a transmission belt, and a rotating shaft. The polarizer consists of two high-performance polyimide-based polarizers connected by the miniature ceramic bearings. The polarizers are mounted on the mounting base, which is fixed inside the protective housing. The stepper motor is connected to the rotating shaft of the polarizers via the transmission belt. The drive and control module consists of a high-precision micro-voltage drive power supply, a motor drive and feedback system, a stepper motor drive chip, and a motor encoder. The optical compensation and calibration component consists of an adaptive optics phase compensator, a wavefront sensor, and a laser energy calibration sensor; the heat dissipation and protection structure consists of a high thermal conductivity copper heat sink, a miniature axial fan, and a copper shielding layer. The pulse control mechanism consists of a high-speed electro-optic modulator connected to the laser optical path via an optical collimator.

2. The high-precision laser iris punch for laser iris punching surgery according to claim 1, characterized in that: The six-degree-of-freedom robotic arm includes a fixed bracket, which is fastened with bolts. Each joint of the six-degree-of-freedom robotic arm is fixedly equipped with a brushless DC servo motor, and the output shaft of the brushless DC servo motor is connected to the joint through a planetary gear reducer.

3. The high-precision laser iris punch for laser iris punching surgery according to claim 1, characterized in that: The flexible eye fixation clip includes a rotating fixing rod, an arc-shaped fixing plate is fixedly installed on the top of the rotating fixing rod, micro suction cups are evenly distributed on the inner side of the arc-shaped fixing plate, and a micro electromagnetic valve is provided between the micro suction cups and the arc-shaped fixing plate.

4. A high-precision laser iris punch for laser iris punching surgery according to claim 3, characterized in that: The outer surfaces of both the arc-shaped fixing clamp and the miniature electromagnetic valve are covered with a flexible protective layer.

5. A high-precision laser iris punch for laser iris punching surgery according to claim 1, characterized in that: The optical aiming system includes a high-resolution miniature CMOS camera, which is fixedly mounted on one side of the end effector integration platform via an electrically driven rotating rod. The high-resolution micro CMOS camera has an aspherical optical lens group fixedly connected to its top via a lens mount and a pressure ring, and a high-performance image processor is fixedly mounted on the side of the high-resolution micro CMOS camera.

6. A high-precision laser iris punch for laser iris punching surgery according to claim 1, characterized in that... The control chassis consists of a housing, a central processing unit, a memory, and input / output interfaces; a control display panel is installed on the outside of the housing.

7. A high-precision laser iris punch for laser iris punching surgery according to claim 1, characterized in that: The multilayer composite liquid crystal adjustment unit includes at least three stacked liquid crystal modules; the relative rotation angle of the two polarizers in the dual-axis rotating polarizer group is precisely controlled by the stepper motor.

8. A high-precision laser iris punch for laser iris punching surgery according to claim 3, characterized in that: The contour of the arc-shaped fixing clamp conforms to the contour of the human eye socket bone; the micro suction cup is connected to the micro electromagnetic valve through a built-in micro tube.

9. A high-precision laser iris punch for laser iris punching surgery according to claim 5, characterized in that: The aspherical optical lens group consists of at least three aspherical lenses with different curvatures; the optical axis of the optical aiming system is parallel to the emission optical path of the laser emitter and the spacing between them is fixed, forming a paraxial parallel optical layout.

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